Detection and Compensation of Degeneracy Cases for IMU-Kinect Integrated Continuous SLAM with Plane Features
- Authors
- Cho, HyunGi; Yeon, Suyong; Choi, Hyunga; Doh, Nakju
- Issue Date
- 4월-2018
- Publisher
- MDPI
- Keywords
- degeneracy; inertial measurement unit (IMU)-Kinect integration; plane feature; pose estimation; simultaneous localization and mapping (SLAM)
- Citation
- SENSORS, v.18, no.4
- Indexed
- SCIE
SCOPUS
- Journal Title
- SENSORS
- Volume
- 18
- Number
- 4
- URI
- https://scholar.korea.ac.kr/handle/2021.sw.korea/76222
- DOI
- 10.3390/s18040935
- ISSN
- 1424-8220
- Abstract
- In a group of general geometric primitives, plane-based features are widely used for indoor localization because of their robustness against noises. However, a lack of linearly independent planes may lead to a non-trivial estimation. This in return can cause a degenerate state from which all states cannot be estimated. To solve this problem, this paper first proposed a degeneracy detection method. A compensation method that could fix orientations by projecting an inertial measurement unit's (IMU) information was then explained. Experiments were conducted using an IMU-Kinect v2 integrated sensor system prone to fall into degenerate cases owing to its narrow field-of-view. Results showed that the proposed framework could enhance map accuracy by successful detection and compensation of degenerated orientations.
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Collections - Executive Vice President for Research > Institute of Convergence Science > 1. Journal Articles
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